Added AddTrackParams() method for convenience + some comments

[u/mrichter/AliRoot.git] / STEER / AliRelAlignerKalman.h

diff --git a/STEER/AliRelAlignerKalman.h b/STEER/AliRelAlignerKalman.h
index c6e36db519b65e22cc0ed5ad2853c63406c6252c..cc16cf78cf68098cf3b13ef3ca8be8363b7a5801 100644 (file)
--- a/STEER/AliRelAlignerKalman.h
+++ b/STEER/AliRelAlignerKalman.h
@@ -31,8 +31,8 @@ public:
     AliRelAlignerKalman(const AliRelAlignerKalman& a);
 
     //User methods:
     AliRelAlignerKalman(const AliRelAlignerKalman& a);
 
     //User methods:

-    Bool_t AddESDTrack(  const AliESDtrack* pTrack );

     Bool_t AddCosmicEvent( const AliESDEvent* pEvent );
     Bool_t AddCosmicEvent( const AliESDEvent* pEvent );

+    Bool_t AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 );

     
     void Print(Option_t* option="") const;
 
     
     void Print(Option_t* option="") const;
 


@@ -43,8 +43,8 @@ public:
     Double_t GetY() const {return (*fPX)(4);}
     Double_t GetZ() const {return (*fPX)(5);}
     Double_t GetTPCvdCorr() const {return (*fPX)(6);}
     Double_t GetY() const {return (*fPX)(4);}
     Double_t GetZ() const {return (*fPX)(5);}
     Double_t GetTPCvdCorr() const {return (*fPX)(6);}

-    Double_t GetTPCvdY() const {return (*fPX)(7);}
-    Double_t GetTPCt0() const {return (*fPX)(8);}
+    Double_t GetTPCt0() const {return (*fPX)(7);}
+    Double_t GetTPCvdY() const {if (fgkNSystemParams>8) return (*fPX)(8); else return 0.0;}

     Double_t GetPsiErr() const {return TMath::Sqrt((*fPXcov)(0,0));}
     Double_t GetThetaErr() const {return TMath::Sqrt((*fPXcov)(1,1));}
     Double_t GetPhiErr() const {return TMath::Sqrt((*fPXcov)(2,2));}
     Double_t GetPsiErr() const {return TMath::Sqrt((*fPXcov)(0,0));}
     Double_t GetThetaErr() const {return TMath::Sqrt((*fPXcov)(1,1));}
     Double_t GetPhiErr() const {return TMath::Sqrt((*fPXcov)(2,2));}


@@ -52,27 +52,33 @@ public:
     Double_t GetYErr() const {return TMath::Sqrt((*fPXcov)(4,4));}
     Double_t GetZErr() const {return TMath::Sqrt((*fPXcov)(5,5));}
     Double_t GetTPCvdCorrErr() const {return TMath::Sqrt((*fPXcov)(6,6));}
     Double_t GetYErr() const {return TMath::Sqrt((*fPXcov)(4,4));}
     Double_t GetZErr() const {return TMath::Sqrt((*fPXcov)(5,5));}
     Double_t GetTPCvdCorrErr() const {return TMath::Sqrt((*fPXcov)(6,6));}

-    Double_t GetTPCvdYErr() const {return TMath::Sqrt((*fPXcov)(7,7));}
-    Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(8,8));}
+    Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(7,7));}
+    Double_t GetTPCvdYErr() const {if (fgkNSystemParams>8) return TMath::Sqrt((*fPXcov)(8,8)); else return 0.0;}

     void GetMeasurement( TVectorD& mes ) const { mes = *fPMeasurement; }
     void GetMeasurement( TVectorD& mes ) const { mes = *fPMeasurement; }

+    TVectorD* GetMeasurement() { return fPMeasurement; }

     void GetMeasurementCov( TMatrixDSym& cov ) const { cov = *fPMeasurementCov; }
     void GetMeasurementCov( TMatrixDSym& cov ) const { cov = *fPMeasurementCov; }

-    void GetState( TVectorD& state ) const { state = *fPX; }
-    void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; }
-    void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; }

     void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
     void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
     void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
     void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}

+    TMatrixDSym* GetMeasurementCov() const { return fPMeasurementCov; }
+    void GetState( TVectorD& state ) const { state = *fPX; }
+    TVectorD* GetState() const { return fPX; }
+    void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; }

     void SetState( const TVectorD& param ) {*fPX = param;}
     void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
     void SetState( const TVectorD& param ) {*fPX = param;}
     void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}

+    TMatrixDSym* GetStateCov() const { return fPXcov; }
+    void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; }

     void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }
 
     //Expert methods:
     void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }
 
     //Expert methods:

+    Bool_t AddESDevent( const AliESDEvent* pEvent );
+    Bool_t AddESDtrack( const AliESDtrack* pTrack );
+    void SetMagField( const Double_t f ) { fMagField=f; }
+    Double_t GetMagField() const { return fMagField; }

     Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );
     Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );

-    Bool_t PrepareUpdate();

     Bool_t Update();
     void SetRefSurface( const Double_t x, const Double_t alpha );
     Bool_t Update();
     void SetRefSurface( const Double_t x, const Double_t alpha );

-    void PrintDebugInfo();

     void PrintCorrelationMatrix();
     void PrintCorrelationMatrix();

-    void PrintCovarianceCorrection();
+    //void PrintCovarianceCorrection();

     void PrintSystemMatrix();
     void Reset();
     void ResetCovariance( const Double_t number=0. );
     void PrintSystemMatrix();
     void Reset();
     void ResetCovariance( const Double_t number=0. );


@@ -81,75 +87,64 @@ public:
     Double_t* GetStateCovArr() const { return fPXcov->GetMatrixArray(); }
     Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); }
     Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); }
     Double_t* GetStateCovArr() const { return fPXcov->GetMatrixArray(); }
     Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); }
     Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); }

+    TMatrixD* GetH() const { return fPH; }

     const Double_t* GetDeltaArr() const {return fDelta;}
     const Double_t* GetDeltaArr() const {return fDelta;}

-    TH1D* GetMes0Hist() const {return fPMes0Hist;}
-    TH1D* GetMes1Hist() const {return fPMes1Hist;} 
-    TH1D* GetMes2Hist() const {return fPMes2Hist;}
-    TH1D* GetMes3Hist() const {return fPMes3Hist;}
-    TH1D* GetMesErr0Hist() const {return fPMesErr0Hist;}
-    TH1D* GetMesErr1Hist() const {return fPMesErr1Hist;}
-    TH1D* GetMesErr2Hist() const {return fPMesErr2Hist;}
-    TH1D* GetMesErr3Hist() const {return fPMesErr3Hist;}
-    Bool_t SetCalibrationMode( const Bool_t cp=kTRUE );
-    void SetCorrectionMode( const Bool_t mode=kTRUE ){ fCorrectionMode=mode; }
-    void SetApplyCovarianceCorrection( const Bool_t s=kTRUE ) {fApplyCovarianceCorrection = s;}
+    void SetNumericalParanoia( const Bool_t mode=kFALSE ) { fNumericalParanoia=mode; }
+    void SetCorrectionMode( const Bool_t mode=kTRUE ) { fCorrectionMode=mode; }

     void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
     void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
     void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
     void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}

-    void SetCovarianceCorrection( const TMatrixDSym& c ) {*fPMeasurementCovCorr = c;}
-    void GetCovarianceCorrection( TMatrixDSym& c ) {c=*fPMeasurementCovCorr;}
-    void SetTrackParams1( const AliExternalTrackParam* exparam );
-    void SetTrackParams2( const AliExternalTrackParam* exparam );
+    Bool_t SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 );
+    const AliExternalTrackParam* GetTrackParams1() const {return fPTrackParamArr1;}
+    const AliExternalTrackParam* GetTrackParams2() const {return fPTrackParamArr2;}

     void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;}
     void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;}
     void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;}
     void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;}
     void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;}
     void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;}

-    void SetNHistogramBins( const Int_t n ) {fNHistogramBins = n;}

     void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
     void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;}
     void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;}
     void SetTPCvd( const Float_t v ) {fTPCvd=v;}
     void SetTPCZLengthA( const Double_t l ) {fTPCZLengthA=l;}
     void SetTPCZLengthC( const Double_t l ) {fTPCZLengthC=l;}
     void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
     void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;}
     void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;}
     void SetTPCvd( const Float_t v ) {fTPCvd=v;}
     void SetTPCZLengthA( const Double_t l ) {fTPCZLengthA=l;}
     void SetTPCZLengthC( const Double_t l ) {fTPCZLengthC=l;}

-    Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
-    Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
+    Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;
+    Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;

     static void Angles( TVectorD &angles, const TMatrixD &rotmat );
     static void RotMat( TMatrixD& R, const TVectorD& angles );
     static void TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
     static void Angles( TVectorD &angles, const TMatrixD &rotmat );
     static void RotMat( TMatrixD& R, const TVectorD& angles );
     static void TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );

+    Bool_t IsPositiveDefinite( const TMatrixD& mat ) const;

     
 protected:
     
 protected:

-    Bool_t UpdateCalibration();

     Bool_t UpdateEstimateKalman();
     Bool_t PrepareMeasurement();
     Bool_t PrepareSystemMatrix();
     Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
     Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
     Bool_t UpdateEstimateKalman();
     Bool_t PrepareMeasurement();
     Bool_t PrepareSystemMatrix();
     Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
     Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );

-    Bool_t CalculateCovarianceCorrection();

 
 private:
 
 private:

-    static const Int_t fgkNMeasurementParams = 4;           //how many measurables
-    static const Int_t fgkNSystemParams = 9;                //how many fit parameters
+    static const Int_t fgkNTracksPerMeasurement=1;        //how many tracks for one update
+    static const Int_t fgkNMeasurementParams=4;           //how many measurables
+    static const Int_t fgkNSystemParams=9;                //how many fit parameters

     
     //Track parameters
     
     //Track parameters

-    Double_t fAlpha;       //rotation angle between the local and global coordinate system like in AliExternalTrackParam
-    Double_t fLocalX;      //local x coordinate of reference plane = r(global)
-    const AliExternalTrackParam* fkPTrackParam1;   //local track parameters (theta,phi,y,z)
-    const AliExternalTrackParam* fkPTrackParam2;   //local track parameters
+    Double_t fAlpha;       //!rotation angle between the local and global coordinate system like in AliExternalTrackParam
+    Double_t fLocalX;      //!local x coordinate of reference plane = r(global)
+    AliExternalTrackParam* fPTrackParamArr1;   //!local track parameters
+    AliExternalTrackParam* fPTrackParamArr2;   //!local track parameters
+    Double_t fMagField; //magnetic field

 
     //Kalman filter related stuff
     TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
     TMatrixDSym* fPXcov; //covariance matrix of system parameters
 
     //Kalman filter related stuff
     TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
     TMatrixDSym* fPXcov; //covariance matrix of system parameters

-    TMatrixD* fPH;      //System measurement matrix
-    Double_t fQ;        //measure for system noise
-    TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
-    TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
+    TMatrixD* fPH;      //!System measurement matrix
+    Double_t fQ;        //!measure for system noise
+    TVectorD* fPMeasurement; //!the measurement vec for Kalman filter (theta,phi,x,z)
+    TMatrixDSym* fPMeasurementCov; //!measurement vec cvariance

     Double_t fOutRejSigmas; //number of sigmas for outlier rejection
     Double_t fOutRejSigmas; //number of sigmas for outlier rejection

-    Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
+    Double_t* fDelta; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())

 
     //Control
 
     //Control

+    Bool_t fNumericalParanoia; //whether to perform additional checks for numerical stability

     Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter
     Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter

-    Bool_t fCalibrationMode;            //are we running in calibration mode?
-    Bool_t fFillHistograms;     //whether to fill the histograms with residuals

     Bool_t fRequireMatchInTPC;  //when looking for a cosmic in event, require that TPC has 2 matching segments
     Bool_t fRequireMatchInTPC;  //when looking for a cosmic in event, require that TPC has 2 matching segments

-    Bool_t fApplyCovarianceCorrection;         //add the correction to the covariance of measurement

     Bool_t fCuts;    //track cuts?
     Int_t fMinPointsVol1;   //mininum number of points in volume 1
     Int_t fMinPointsVol2;   //mininum number of points in volume 2
     Bool_t fCuts;    //track cuts?
     Int_t fMinPointsVol1;   //mininum number of points in volume 1
     Int_t fMinPointsVol2;   //mininum number of points in volume 2


@@ -166,25 +161,14 @@ private:
     Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets (good cosmics)
     Int_t fNMatchedTPCtracklets;//number of cosmic events with 2 matching TPC tracklets
     Int_t fNProcessedEvents; //number of processed events
     Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets (good cosmics)
     Int_t fNMatchedTPCtracklets;//number of cosmic events with 2 matching TPC tracklets
     Int_t fNProcessedEvents; //number of processed events

-
-    //Calibration histograms
-    Int_t fNHistogramBins;   //how many bins in control histograms
-    TH1D* fPMes0Hist;  //histo of x measurement
-    TH1D* fPMes1Hist;  //histo of y measurement
-    TH1D* fPMes2Hist; //histo of phi measurement
-    TH1D* fPMes3Hist; //histo of theta measurement
-    TH1D* fPMesErr0Hist;  //histogram of the covariance of a fit parameter, used in calibration
-    TH1D* fPMesErr1Hist;  //histogram of the covariance of a fit parameter, used in calibration
-    TH1D* fPMesErr2Hist;  //histogram of the covariance of a fit parameter, used in calibration
-    TH1D* fPMesErr3Hist;  //histogram of the covariance of a fit parameter, used in calibration
-    TMatrixDSym* fPMeasurementCovCorr; //correction to be added to the measurement covariance
+    Int_t fTrackInBuffer; //number of tracks in buffer

 
     //TPC stuff
     Double_t fTPCvd; //TPC drift velocity
     Double_t fTPCZLengthA; //TPC length side A
     Double_t fTPCZLengthC; //TPC length side C
     
 
     //TPC stuff
     Double_t fTPCvd; //TPC drift velocity
     Double_t fTPCZLengthA; //TPC length side A
     Double_t fTPCZLengthC; //TPC length side C
     

-    ClassDef(AliRelAlignerKalman,2)     //AliRelAlignerKalman class
+    ClassDef(AliRelAlignerKalman,1)     //AliRelAlignerKalman class

 };
 
 #endif
 };
 
 #endif